CN204772559U - Space four degree of freedom pile up neatlys machinery hand - Google Patents
Space four degree of freedom pile up neatlys machinery hand Download PDFInfo
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- CN204772559U CN204772559U CN201520518170.9U CN201520518170U CN204772559U CN 204772559 U CN204772559 U CN 204772559U CN 201520518170 U CN201520518170 U CN 201520518170U CN 204772559 U CN204772559 U CN 204772559U
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Abstract
The utility model discloses a space four degree of freedom pile up neatlys machinery hand relates to the parallel mechanism field, and this space four degree of freedom pile up neatlys machinery hand comprises quiet platform, four the same side chains moving platform and hookup sound platform, and every side chain is all by the servo motor drive of a consolidation on quiet platform, and four common drives of servo motor can realize moving the motion of four degrees of freedom in the three -dimensional translation one -dimensional rotation space of platform. This space four degree of freedom pile up neatlys machinery hand has high speed, high rigidity, advantage such as longe -lived.
Description
Technical field
The utility model relates to parallel institution field, particularly a kind of space four-degree-of-freedom palletizing mechanical arm.
Background technology
Patent US.4976582 discloses a kind of space four-degree-of-freedom palletizing mechanical arm, this mechanism adopts three outer revolute pairs to drive and parallelogram branched structure, realize the high speed three-dimensional translation of end effector, between sound platform, be also provided with two ends simultaneously rotate with the single-degree-of-freedom realizing end effector with the scalable rotating shaft of hook hinge.But this mechanism realize end effector rotate process in have employed Telescopic rod structure, this will affect rigidity and the life-span of mechanism with high speed motion, paper " H4:anewfamilyof4-dofparallelrobots ", paper " Par4-veryhighspeedparallelrobotforpick-and-place ", patent US20090019960A1, patent EP1804802B1, patent 200910228105.1, patent 201010212312.0, patent 201010614256.3, patent 201110107857.X, patent 201110107380.5, patent 201110107384.3, patent 201110109529.6 discloses several space four-degree-of-freedom mechanism realizing three-dimensional translation and one-dimensional and rotate, such mechanism adopts four outer revolute pairs to drive and parallelogram branched structure, and the high speed three-dimensional dimensional translation and one rotational motion of end effector is realized by the relative motion of branch terminals component.But it is realize by the relative motion between four branch terminals components that the end effector of such mechanism realizes four-degree-of-freedom motion, and this structure will affect the rigidity of parallel institution.
Summary of the invention
Technical problem to be solved in the utility model is to provide a kind of space four-degree-of-freedom palletizing mechanical arm, provides a kind of space four-degree-of-freedom palletizing mechanical arm, has the advantages such as high speed, high rigidity, life-span length.
For achieving the above object, the utility model provides following technical scheme: a kind of space four-degree-of-freedom palletizing mechanical arm, it is characterized in that: described space four-degree-of-freedom palletizing mechanical arm is made up of four of silent flatform, moving platform and connection sound platform thereof identical side chains, every bar side chain is all cemented in the driven by servomotor on silent flatform by one, four servomotors drive the motion of the three-dimensional translation and one-dimensional rotation space four-degree-of-freedom realizing moving platform jointly, first side chain one end is connected with silent flatform by the first revolute pair, the first side chain other end is connected with moving platform by the second revolute pair, second side chain one end is connected with silent flatform by the 3rd revolute pair, the second side chain other end is connected with moving platform by the 4th revolute pair, 3rd side chain one end is connected with silent flatform by the 5th revolute pair, the 3rd side chain other end is connected with moving platform by the 6th revolute pair, 4th side chain one end is connected with silent flatform by the 7th revolute pair, the 4th side chain other end is connected with moving platform by the 8th revolute pair, side chain forms and connected mode by two kinds.
The first composition of side chain with connecting mode is: the first component is connected with second component by I revolute pair, second component two ends connect with first connecting rod, second connecting rod respectively by II revolute pair, III revolute pair, the first connecting rod other end is connected with the 3rd component one end by IV revolute pair, the second connecting rod other end is connected with the 3rd component other end by V revolute pair, 3rd component is connected with the 4th component by VI revolute pair, and first connecting rod is parallel with second connecting rod isometric.
The second composition of side chain with connecting mode is: the 1st component is connected with the 1st connecting rod, the 2nd connecting rod by I Hooke's hinge, II Hooke's hinge, the 1st connecting rod other end is connected with the 2nd component by III Hooke's hinge, the 2nd connecting rod other end is connected with the 2nd component by IV Hooke's hinge, and the 1st connecting rod is parallel isometric with the 2nd connecting rod.
The beneficial effect of above technical scheme is adopted to be: this space four-degree-of-freedom palletizing mechanical arm is made up of four of silent flatform, moving platform and connection sound platform thereof identical side chains, every bar side chain is all cemented in the driven by servomotor on silent flatform by one, four servomotors drive the motion of the three-dimensional translation and one-dimensional rotation space four-degree-of-freedom that can realize moving platform jointly.This space four-degree-of-freedom palletizing mechanical arm has the advantages such as high speed, high rigidity, life-span length.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described in further detail.
Fig. 1 is the first structural representation of a kind of space of the utility model four-degree-of-freedom palletizing mechanical arm;
Fig. 2 is the second structural representation of a kind of space of the utility model four-degree-of-freedom palletizing mechanical arm;
Fig. 3 is a kind of space of the utility model the first branched structure schematic diagram of four-degree-of-freedom palletizing mechanical arm;
Fig. 4 is a kind of space of the utility model four-degree-of-freedom palletizing mechanical arm the second branched structure schematic diagram.
Wherein, 1-silent flatform, 2-first servomotor, 3-second servomotor, 4-the 3rd servomotor, 5-the 4th servomotor, 6-first revolute pair, 7-the 3rd revolute pair, 8-the 5th revolute pair, 9-the 7th revolute pair, 10-second revolute pair, 11-the 4th revolute pair, 12-the 6th revolute pair, 13-the 8th revolute pair, 14-moving platform, 15-first component, 16-I revolute pair, 17-second component, 18-II revolute pair, 19-III revolute pair, 20-first connecting rod, 21-second connecting rod, 22-IV revolute pair, 23-V revolute pair, 24-the 3rd component, 25-VI revolute pair, 26-the 4th component, 27-the 1st component, 28-I Hooke's hinge, 29-II Hooke's hinge, 30-the 1st connecting rod, 31-the 2nd connecting rod, 32-III Hooke's hinge, 33-IV Hooke's hinge, 34-the 2nd component.
Detailed description of the invention
The preferred embodiment of a kind of space of the utility model four-degree-of-freedom palletizing mechanical arm is described in detail below in conjunction with accompanying drawing.
Composition graphs 1 and Fig. 2 show the detailed description of the invention of a kind of space of the utility model four-degree-of-freedom palletizing mechanical arm: as attached Fig. 1 and 2, first side chain one end is connected with silent flatform 1 by the first revolute pair 6, the first side chain other end is connected with moving platform 14 by the second revolute pair 10, second side chain one end is connected with silent flatform 1 by the 3rd revolute pair 7, the second side chain other end is connected with moving platform 14 by the 4th revolute pair 11, 3rd side chain one end is connected with silent flatform 1 by the 5th revolute pair 8, the 3rd side chain other end is connected with moving platform 14 by the 6th revolute pair 12, 4th side chain one end is connected with silent flatform 1 by the 7th revolute pair 9, the 4th side chain other end is connected with moving platform 14 by the 8th revolute pair 13.
As accompanying drawing 2, above-mentioned first side chain is driven by the first servomotor 2 be cemented on silent flatform 1, second side chain is driven by the second servomotor 3 be cemented on silent flatform 1,3rd side chain is driven by the 3rd servomotor 4 be cemented on silent flatform 1, and the 4th side chain is driven by the 4th servomotor 5 be cemented on silent flatform 1.
As accompanying drawing 3, the first composition of above-mentioned side chain with connecting mode is: first component 15 other end is connected with second component 17 by I revolute pair 16, second component 17 two ends are respectively by II revolute pair 18, III revolute pair 19 and first connecting rod 20, second connecting rod 21 connects, first connecting rod 20 other end is connected with the 3rd component 24 one end by IV revolute pair 22, second connecting rod 21 other end is connected with the 3rd component 24 other end by V revolute pair 23, 3rd component 24 is connected with the 4th component 26 by VI revolute pair 25, first connecting rod 20 is parallel with second connecting rod 21 isometric.
As accompanying drawing 4, the second composition of side chain with connecting mode is: the 1st component 27 is connected with the 1st connecting rod 30, the 2nd connecting rod 31 by I Hooke's hinge 28, II Hooke's hinge 29,1st connecting rod 30 other end is connected with the 2nd component 34 by III Hooke's hinge 32,2nd connecting rod 31 other end is connected with the 2nd component 34 by IV Hooke's hinge 33, and the 1st connecting rod 30 is parallel isometric with the 2nd connecting rod 31.
Above is only preferred embodiment of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite not departing from the utility model creation design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (3)
1. a space four-degree-of-freedom palletizing mechanical arm, it is characterized in that: described space four-degree-of-freedom palletizing mechanical arm is made up of four of silent flatform, moving platform and connection sound platform thereof identical side chains, every bar side chain is all cemented in the driven by servomotor on silent flatform by one, four servomotors drive the motion of the three-dimensional translation and one-dimensional rotation space four-degree-of-freedom realizing moving platform jointly, first side chain one end is connected with silent flatform by the first revolute pair, the first side chain other end is connected with moving platform by the second revolute pair, second side chain one end is connected with silent flatform by the 3rd revolute pair, the second side chain other end is connected with moving platform by the 4th revolute pair, 3rd side chain one end is connected with silent flatform by the 5th revolute pair, the 3rd side chain other end is connected with moving platform by the 6th revolute pair, 4th side chain one end is connected with silent flatform by the 7th revolute pair, the 4th side chain other end is connected with moving platform by the 8th revolute pair, side chain forms and connected mode by two kinds.
2. space according to claim 1 four-degree-of-freedom palletizing mechanical arm, it is characterized in that: the first composition of described side chain with connecting mode is: the first component is connected with second component by I revolute pair, second component two ends are respectively by II revolute pair, III revolute pair and first connecting rod, second connecting rod connects, the first connecting rod other end is connected with the 3rd component one end by IV revolute pair, the second connecting rod other end is connected with the 3rd component other end by V revolute pair, 3rd component is connected with the 4th component by VI revolute pair, first connecting rod is parallel with second connecting rod isometric.
3. space according to claim 1 four-degree-of-freedom palletizing mechanical arm, it is characterized in that: the second composition of described side chain with connecting mode is: the 1st component is connected with the 1st connecting rod, the 2nd connecting rod by I Hooke's hinge, II Hooke's hinge, the 1st connecting rod other end is connected with the 2nd component by III Hooke's hinge, the 2nd connecting rod other end is connected with the 2nd component by IV Hooke's hinge, and the 1st connecting rod is parallel isometric with the 2nd connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520518170.9U CN204772559U (en) | 2015-07-17 | 2015-07-17 | Space four degree of freedom pile up neatlys machinery hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520518170.9U CN204772559U (en) | 2015-07-17 | 2015-07-17 | Space four degree of freedom pile up neatlys machinery hand |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217351A (en) * | 2016-08-04 | 2016-12-14 | 珠海格力智能装备有限公司 | Fixing seat, fixing holder assembly and parallel robot |
| CN109848971A (en) * | 2019-03-19 | 2019-06-07 | 上海工程技术大学 | A kind of industrial parallel robot for stacking |
-
2015
- 2015-07-17 CN CN201520518170.9U patent/CN204772559U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106217351A (en) * | 2016-08-04 | 2016-12-14 | 珠海格力智能装备有限公司 | Fixing seat, fixing holder assembly and parallel robot |
| CN109848971A (en) * | 2019-03-19 | 2019-06-07 | 上海工程技术大学 | A kind of industrial parallel robot for stacking |
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